Lines Matching refs:t0
138 Transform3 t0, t1, t2; in geometry() local
140 t0.setIdentity(); in geometry()
141 VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity()); in geometry()
142 t0.matrix().setZero(); in geometry()
143 t0 = Transform3::Identity(); in geometry()
144 VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity()); in geometry()
146 t0.linear() = q1.toRotationMatrix(); in geometry()
151 t0.scale(v0); in geometry()
154 VERIFY_IS_APPROX( (t0 * Vector3(1,0,0)).norm(), v0.x()); in geometry()
157 t0.setIdentity(); in geometry()
160 t0.linear() = q1.toRotationMatrix(); in geometry()
161 t0.pretranslate(v0); in geometry()
162 t0.scale(v1); in geometry()
167 VERIFY((t0.matrix() * t1.matrix()).isIdentity(test_precision<Scalar>())); in geometry()
170 VERIFY_IS_APPROX(t1.matrix(), t0.matrix()); in geometry()
171 VERIFY_IS_APPROX(t1*v1, t0*v1); in geometry()
173 t0.setIdentity(); t0.scale(v0).rotate(q1.toRotationMatrix()); in geometry()
175 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in geometry()
177 t0.setIdentity(); t0.scale(v0).rotate(AngleAxisx(q1)); in geometry()
178 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in geometry()
180 VERIFY_IS_APPROX(t0.scale(a).matrix(), t1.scale(Vector3::Constant(a)).matrix()); in geometry()
181 VERIFY_IS_APPROX(t0.prescale(a).matrix(), t1.prescale(Vector3::Constant(a)).matrix()); in geometry()
252 t0.setIdentity(); in geometry()
253 t0.rotate(q1).scale(v0).translate(v0); in geometry()
256 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in geometry()
259 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in geometry()
261 t0.setIdentity(); in geometry()
262 t0.prerotate(q1).prescale(v0).pretranslate(v0); in geometry()
265 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in geometry()
268 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in geometry()
270 t0.setIdentity(); in geometry()
271 t0.scale(v0).translate(v0).rotate(q1); in geometry()
274 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in geometry()
276 t0.scale(v0); in geometry()
278 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in geometry()
280 t0.translate(v0); in geometry()
282 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in geometry()
284 t0.pretranslate(v0); in geometry()
286 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in geometry()
289 t0.rotate(q1); in geometry()
291 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in geometry()
294 t0.translate(v1).rotate(q1); in geometry()
296 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in geometry()
299 t0.scale(v1).rotate(q1); in geometry()
301 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in geometry()
304 t0.prerotate(q1); in geometry()
306 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in geometry()
309 t0.rotate(q1).translate(v1); in geometry()
311 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in geometry()
314 t0.rotate(q1).scale(v1); in geometry()
316 VERIFY_IS_APPROX(t0.matrix(), t1.matrix()); in geometry()
319 t0.setIdentity(); in geometry()
320 t0.translate(v0); in geometry()
321 VERIFY_IS_APPROX(t0 * v1, Translation3(v0) * v1); in geometry()
324 t0.setIdentity(); in geometry()
325 t0.scale(v0); in geometry()
326 VERIFY_IS_APPROX(t0 * v1, Scaling3(v0) * v1); in geometry()
329 t0.setIdentity(); in geometry()
330 t0.translate(v0); in geometry()
331 t0.linear().setRandom(); in geometry()
332 VERIFY_IS_APPROX(t0.inverse(Affine), t0.matrix().inverse()); in geometry()
333 t0.setIdentity(); in geometry()
334 t0.translate(v0).rotate(q1); in geometry()
335 VERIFY_IS_APPROX(t0.inverse(Isometry), t0.matrix().inverse()); in geometry()
338 t0.setIdentity(); in geometry()
339 t0.translate(v0).rotate(q1).scale(v1); in geometry()
340 VERIFY_IS_APPROX(t0.rotation() * v1, Matrix3(q1) * v1); in geometry()
343 t0.setIdentity(); in geometry()
344 t0.translate(v0).rotate(q1).scale(v1); in geometry()
345 t0.computeRotationScaling(&mat_rotation, &mat_scaling); in geometry()
346 VERIFY_IS_APPROX(t0.linear(), mat_rotation * mat_scaling); in geometry()
349 t0.computeScalingRotation(&mat_scaling, &mat_rotation); in geometry()
350 VERIFY_IS_APPROX(t0.linear(), mat_scaling * mat_rotation); in geometry()